import numpy as np
from scipy.spatial.transform import Rotation

# 轴角转旋转矩阵
k = np.array([-0.960122,-0.161798,-0.228009])
theta = 1.45301
R = Rotation.from_rotvec(k * theta).as_matrix()

# 旋转矩阵转RPY（ZYX顺序）
rpy = Rotation.from_matrix(R).as_euler('zyx', degrees=True)
print("RPY (degrees):", rpy)  # 输出: [Yaw, Pitch, Roll]